A semi-trailer reversing system and method based on laser radar information fusion

Abstract

The invention relates to the technical field of semi-trailer control, and specifically discloses a semi-trailer reversing system and method based on laser radar information fusion. The system collects reversing preparation parameters of the semi-trailer and historical operation parameters of the semi-trailer, and combines the flexible adjustment factor of the semi-trailer to evaluate the reversing operation stability index of the semi-trailer, taking into account the flexibility differences of different vehicles caused by factors such as load, thereby improving the universality and accuracy of reversing operation analysis. At the same time, the system integrates the high-precision actual position information of the semi-trailer collected by the laser radar and various feature information of the target parking area to which the semi-trailer belongs, matches and simulates the execution of a recommended reversing instruction set of the semi-trailer, thereby determining the simulated reversing accuracy of the semi-trailer, and providing feedback and early warning for the reversing of the semi-trailer, so as to formulate personalized reversing plans for different operation processes of different operators, thereby improving the accuracy and efficiency of the reversing process.

Description

Technical Field

[0001] The present invention relates to the technical field of semi-trailer control, and in particular to a semi-trailer reversing system and method based on laser radar information fusion. Background Art

[0002] In the operation field of semi-trailer trains, the reversing process has always been one of the important challenges faced by drivers due to its complexity. The existing reversing control analysis mainly focuses on how to influence the reversing behavior of the vehicle through control inputs (such as steering wheel angle), but pays less attention to the impact of the reversing flexibility of the reversing process itself on the reversing operation. As a result, when optimizing the reversing process control, the influence of various factors cannot be fully considered, thereby limiting the further improvement of the feasibility of the reversing control method.

[0003] For example, the invention patent with announcement number CN109747637B announces an induced control method for a semi-trailer train to reverse into a position. The method assists the driver in completing the reverse operation by providing the driver with prompts on the direction and angle of rotation of the steering wheel based on the driver's needs for reversing into a position.

[0004] For example, the invention patent with publication number CN117104231A discloses a method, device, electronic device and storage medium for reversing a semi-trailer car train. The method constructs a cascade model corresponding to the target car train and a reversing constraint including an anti-folding constraint, and then determines the final reversing reference trajectory of the tractor in the target car train according to the initial control quantity sequence of the last trailer, the posture of the last trailer at the first moment, the initial articulation angle of each vehicle at the first moment, the cascade model and the reversing constraint, thereby tracking the trajectory and realizing reversing control of the target car train.

[0005] However, in the process of implementing the embodiments of the present application, it was found that the above technology has at least the following technical problems: currently, when analyzing the reversing process of the semi-trailer train, the dynamic characteristics of the reversing process of the semi-trailer train are mainly analyzed, which may lead to that in some cases, even if the reversing control is correct in theory, the ideal reversing effect cannot be achieved. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a semi-trailer reversing system and method based on laser radar information fusion, which can effectively solve the problems involved in the above-mentioned background technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: In the first aspect, the present invention provides a semi-trailer reversing system based on laser radar information fusion, including: a reversing stability evaluation module, which is used to collect the reversing preparation parameters of the semi-trailer, and analyze the flexible adjustment factor of the semi-trailer, while collecting the historical operation parameters of the semi-trailer, and combining the flexible adjustment factor of the semi-trailer to evaluate the reversing operation stability index of the semi-trailer; a reversing instruction simulation module, which is used to fuse the actual position information of the semi-trailer collected by the laser radar and the various feature information of the target parking area to which the semi-trailer belongs, match the recommended reversing instruction set of the semi-trailer, and simulate the execution of the recommended reversing instruction set of the semi-trailer based on the reversing operation stability index of the semi-trailer to obtain the simulation process parameters of the recommended reversing instruction set of the semi-trailer; a reversing simulation feedback module, which is used to determine the simulated reversing accuracy of the semi-trailer based on the simulation process parameters of the recommended reversing instruction set of the semi-trailer, thereby providing feedback and early warning for the reversing of the semi-trailer.

[0008] As a further solution, the historical operating parameters of the semi-trailer are collected by searching the corresponding operator of the semi-trailer in the vehicle control database, and collecting the parameters of the operator of the semi-trailer during the historical reversing task, which are recorded as the historical operating parameters of the semi-trailer.

[0009] As a further solution, the actual position information of the semi-trailer collected by the fusion laser radar and the various feature information of the target parking area to which the semi-trailer belongs, the specific fusion process is: the various feature information of the actual position information of the semi-trailer is collected by the laser radar, and marked as the feature set of the semi-trailer, and at the same time, the various feature information of the target parking area to which the semi-trailer belongs is collected by the laser radar, and marked as the feature set of the target parking area to which the semi-trailer belongs, the feature set of the semi-trailer and the feature set of the target parking area to which the semi-trailer belongs are comprehensively marked as the actual feature total set, which is the fusion process of the actual position information of the semi-trailer.

[0010] As a further solution, the recommended reversing instruction set for the semi-trailer is matched, and the specific matching process is: a fusion process based on the actual position information of the semi-trailer, thereby comparing and analyzing the actual feature set with the feature sets stored in the vehicle control database, and obtaining the feature set with the highest degree of comparison with the actual feature set. The recommended reversing instruction set corresponding to the feature set is the recommended reversing instruction set corresponding to the actual feature set, and is recorded as the recommended reversing instruction set for the semi-trailer.

[0011] As a further solution, the feedback warning of the reversing of the semi-trailer is performed, and the specific feedback process is: comparing the simulated reversing accuracy of the semi-trailer with the simulated reversing accuracy threshold; if the simulated reversing accuracy of the semi-trailer is less than the simulated reversing accuracy threshold, then a feedback warning of the reversing of the semi-trailer is performed, and the specific feedback warning process is as follows: performing difference processing on the simulated reversing accuracy threshold and the simulated reversing accuracy of the semi-trailer to obtain a simulated reversing accuracy difference, and matching the simulated reversing accuracy difference with an optimized reversing instruction set corresponding to each simulated reversing accuracy difference interval stored in a vehicle control database to obtain an optimized reversing instruction set of the semi-trailer, thereby performing feedback warning on the reversing of the semi-trailer through the optimized reversing instruction set.

[0012] The second aspect of the present invention provides a method for a semi-trailer reversing system based on laser radar information fusion, comprising: S1. collecting the reversing preparation parameters of the semi-trailer, analyzing the flexible adjustment factor of the semi-trailer, collecting the historical operation parameters of the semi-trailer, and evaluating the reversing operation stability index of the semi-trailer in combination with the flexible adjustment factor of the semi-trailer; S2. fusing the actual position information of the semi-trailer collected by the laser radar and the various feature information of the target parking area to which the semi-trailer belongs, matching the recommended reversing instruction set of the semi-trailer, and simulating the execution of the recommended reversing instruction set of the semi-trailer based on the reversing operation stability index of the semi-trailer to obtain the simulation process parameters of the recommended reversing instruction set of the semi-trailer; S3. determining the simulated reversing accuracy of the semi-trailer based on the simulation process parameters of the recommended reversing instruction set of the semi-trailer, thereby providing feedback and warning for the reversing of the semi-trailer.

[0013] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0014] (1) The present invention provides a semi-trailer reversing system and method based on laser radar information fusion. The system collects the reversing preparation parameters of the semi-trailer, analyzes the flexible adjustment factor of the semi-trailer, collects the historical operation parameters of the semi-trailer, and evaluates the reversing operation stability index of the semi-trailer in combination with the flexible adjustment factor of the semi-trailer. The system takes into account the flexibility differences of different vehicles due to factors such as design and load, thereby improving the universality and accuracy of the reversing operation analysis. At the same time, the system integrates the high-precision actual position information of the semi-trailer collected by the laser radar and the various feature information of the target parking area to which the semi-trailer belongs, matches and simulates the execution of the recommended reversing instruction set of the semi-trailer, thereby determining the simulated reversing accuracy of the semi-trailer, and providing feedback and warning for the reversing of the semi-trailer, so that personalized reversing plans can be formulated for different operation processes of different operators, thereby improving the accuracy and efficiency of the reversing process.

[0015] (2) The present invention analyzes the reversing operation from multiple dimensions by combining the reversing preparation parameters of the semi-trailer and the historical operation parameters of the semi-trailer, and can evaluate the stability of the reversing operation process that is more in line with the actual situation, thereby providing a personalized basis for the simulation execution of the recommended reversing instruction set of the semi-trailer.

[0016] (3) The present invention integrates the actual position information of the semi-trailer collected by the laser radar and the characteristic information of the target parking area to which the semi-trailer belongs, and simulates the execution of the recommended reversing instruction set of the semi-trailer based on the reversing operation stability index of the semi-trailer, thereby optimizing the reversing path in advance and reducing the risks in the actual reversing operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0018] Figure 1 It is a schematic diagram of system module connection of the present invention.

[0019] Figure 2 The figure is a schematic flow chart of the method steps of the present invention.

[0020] Figure 3 It is a speed change curve of the historical reversing task of the semi-trailer involved in the present invention. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] Reference Figure 1 As shown, the first aspect of the present invention provides a semi-trailer reversing system based on laser radar information fusion, including: a reversing stability evaluation module, a reversing instruction simulation module and a reversing simulation feedback module.

[0023] A first aspect of the present invention provides a semi-trailer reversing system based on laser radar information fusion, and also includes a vehicle control database, which is used to store tire wear corresponding to each pattern average depth interval, an influencing factor corresponding to the unit value of the average steering ratio of the steering wheel, an influencing factor corresponding to the unit value of the tire wear, an influencing factor corresponding to the unit value of the total weight, an operator corresponding to the semi-trailer, a reference speed, a reference acceleration, a weight factor corresponding to the flexible adjustment factor, a weight factor corresponding to the first reversing operation stability index, a weight factor corresponding to the second reversing operation stability index, an influencing factor corresponding to the unit value of the average operation execution time, an influencing factor corresponding to the unit value of the complete completion rate, a recommended reversing instruction set corresponding to each feature set, a weight factor corresponding to the reversing operation stability index, an influencing factor corresponding to the unit value of the total articulation offset angle, an optimized reversing instruction set corresponding to each simulated reversing accurate difference interval, and a simulated reversing accurate threshold.

[0024] The reversing stability evaluation module is connected to the reversing instruction simulation module and the vehicle control database respectively, the reversing instruction simulation module is connected to the reversing simulation feedback module and the vehicle control database respectively, and the reversing simulation feedback module is connected to the vehicle control database.

[0025] The reversing stability evaluation module is used to collect the reversing preparation parameters of the semi-trailer and analyze the flexible adjustment factor of the semi-trailer. At the same time, it collects the historical operation parameters of the semi-trailer and evaluates the reversing operation stability index of the semi-trailer in combination with the flexible adjustment factor of the semi-trailer.

[0026] In a specific embodiment, the present invention analyzes the reversing operation from multiple dimensions by combining the reversing preparation parameters of the semi-trailer and the historical operation parameters of the semi-trailer, and can evaluate the stability of the reversing operation process that is more in line with the actual situation, thereby providing a personalized basis for the simulation execution of the recommended reversing instruction set of the semi-trailer.

[0027] Specifically, the collection of historical operating parameters of the semi-trailer is to query the corresponding operator of the semi-trailer in the vehicle control database, and collect the parameters of the operator of the semi-trailer in the process of operating historical reversing tasks, which are recorded as the historical operating parameters of the semi-trailer; the above-mentioned querying the corresponding operator of the semi-trailer in the vehicle control database means that by querying the unique ID corresponding to the operator in the vehicle control database, the parameters of the operator of the semi-trailer in the process of operating historical reversing tasks can be obtained, wherein the historical reversing task refers to the historical adjacent reversing tasks. For example, if the unique ID corresponding to a certain operator is 080720, the parameters of the operator in the process of operating the historical reversing tasks are queried, which are the historical operating parameters of the semi-trailer corresponding to the operator 080720.

[0028] It should be explained that the reversing preparation parameters of the above-mentioned semi-trailer include the steering wheel rotation angle and the steering wheel rotation angle of the tractor belonging to the semi-trailer under each test rotation, the tread depth of each tire belonging to the semi-trailer at each detection position point and the total weight of the semi-trailer. In addition to being applied to the above-mentioned parameters, this example can also be used for other parameters; the historical operation parameters of the above-mentioned semi-trailer include the issuance time points of each sample instruction belonging to the historical reversing task of the semi-trailer and the corresponding execution end time points and the speed change curve of the historical reversing task of the semi-trailer. In addition to being applied to the above-mentioned parameters, this example can also be used for other parameters.

[0029] Specifically, the evaluation process of the reversing operation stability index of the semi-trailer is as follows:

[0030] The issuing time points and corresponding execution end time points of each sample instruction belonging to the historical reversing task of the semi-trailer are extracted from the historical operation parameters of the semi-trailer, and the operation execution time of each sample instruction belonging to the historical reversing task of the semi-trailer is obtained by difference processing, and the average operation execution time of the sample instructions belonging to the historical reversing task of the semi-trailer is obtained by mean processing. At the same time, the total number of sample instructions completely completed and the total number of sample instructions are counted, and the complete completion rate of the sample instructions belonging to the historical reversing task of the semi-trailer is obtained by ratio analysis; the issuing time points and corresponding execution end time points of each sample instruction belonging to the historical reversing task of the semi-trailer are obtained, wherein the issuing time points can be obtained through the timestamp recorded in the system log, and the execution end time points can be obtained through the data of the semi-trailer braking quasi-state provided by the on-board diagnostic data receiver and the data collected by the photoelectric angle sensor installed on the steering column between the steering lock switch and the steering wheel, and the corresponding timestamps of these data are obtained; the above-mentioned sample instruction is completely completed, which means that the instruction executed by the operator meets the tolerance range of the operation instruction (that is, the instruction executed by the operator is within the error range allowed by the instruction), then the instruction is the sample instruction completely completed, which can be judged by the following method:

[0031] def is_compliant(target_angle, actual_angle, tolerance=5):

[0032] """

[0033] Determine whether the operation complies with the instruction

[0034] :param target_angle: target angle (the angle required by the instruction)

[0035] :param actual_angle: actual angle (the angle at which the operator is executed)

[0036] :param tolerance: tolerance range

[0037] :return: If the operation complies with the instructions, return True; otherwise return False

[0038] """

[0039] if abs(actual_angle - target_angle) <= tolerance:

[0040] return True

[0041] else:

[0042] return False

[0043] # Example

[0044] def is_compliant(target_angle, actual_angle, tolerance=5):

[0045] """

[0046] target_angle = 90 #The steering wheel right turn angle required by the command

[0047] actual_angle = 100 #The angle actually executed by the operator

[0048] tolerance = 5 #tolerance range

[0049] if is_compliant(target_angle, actual_angle, tolerance):

[0050] print("The operation is completely in accordance with the instructions.")

[0051] else:

[0052] print("The operation does not fully comply with the instructions.")

[0053] The speed change curve of the semi-trailer's historical reversing task is extracted from the semi-trailer's historical operating parameters, and each speed detection point is marked on the speed change curve to obtain the speed of each speed detection point. The average speed of the semi-trailer's historical reversing task is obtained by averaging. The speed change curve of the semi-trailer's historical reversing task is as follows: Figure 3As shown, the running speed of the semi-trailer provided by the on-board diagnostic interface is collected by the on-board diagnostic data receiver, and the running speed of the semi-trailer provided by the on-board diagnostic interface is transmitted to the matrix laboratory software for denoising and then drawn into a speed change curve. The horizontal axis of the speed change curve is the historical detection time point, the unit is second, and the vertical axis is the speed, the unit is meter / second, which shows the speed change of the operator of the semi-trailer during the operation of the historical adjacent reversing tasks, wherein the historical detection time point is the corresponding time point in the execution process of the historical reversing task; the above-mentioned speed detection points generate random time points through a random number algorithm (the range of random time points is within the range of historical detection time points), and the corresponding position point of each random time point on the curve is each speed detection point.

[0054] The speed change curve of the semi-trailer's historical reversing task is processed to obtain the acceleration change curve of the semi-trailer's historical reversing task, and the acceleration of each speed detection point is obtained. The average acceleration of the semi-trailer's historical reversing task is obtained by mean processing; the acceleration change curve of the semi-trailer's historical reversing task is obtained by code processing in the matrix laboratory. The specific data processing process is:

[0055] import numpy as np

[0056] # v is the speed array

[0057] v = np.array([0,1,3,5,7,2,2,4,5,3,1,4,3,1,...,3])

[0058] # Example speed data

[0059] dt = 1.0 # time interval

[0060] # Use central difference to calculate acceleration (ignore the first and last points, the velocity array is long, ignoring the first and last data does not affect the overall acceleration curve)

[0061] a = np.diff(v, n=2) / (dt**2) # This will actually have two fewer points, since the central difference requires three points

[0062] Based on this, combined with the comprehensive evaluation of the flexible adjustment factor of the semi-trailer, the evaluation method of the reversing operation stability index of the semi-trailer is obtained as follows:

[0063] ;

[0064] in,

[0065] ;

[0066] In this embodiment, the reversing operation stability index of the semi-trailer is obtained by comprehensive analysis of the flexible adjustment factor of the semi-trailer, the first reversing operation stability index and the second reversing operation stability index, and is used to evaluate the stability of the operator's operation of the semi-trailer during the reversing process of the semi-trailer.

[0067] The flexible adjustment factor of a semi-trailer is obtained through a comprehensive analysis of the average steering ratio of the steering wheel, tire wear and total weight of the tractor to which the semi-trailer belongs. It is a numerical value used to evaluate the degree of flexible adjustment of the semi-trailer.

[0068] It is the first reversing operation stability index of the semi-trailer, which is obtained by comprehensive analysis of the average operation execution time and complete completion rate of the sample instructions belonging to the historical reversing tasks of the semi-trailer, and is used to represent the numerical value of the first aspect of the reversing operation stability of the semi-trailer.

[0069] It is the second reversing operation stability index of the semi-trailer, which is obtained by comprehensive analysis of the average speed and average acceleration of the semi-trailer's historical reversing tasks, and is used to indicate the numerical value of the second aspect of the reversing operation stability of the semi-trailer.

[0070] It is the average execution time of the sample instructions belonging to the historical reversing tasks of the semi-trailer, which refers to the average time required for each instruction from the beginning to the end of the reversing task of the semi-trailer.

[0071] It is the complete completion rate of sample instructions belonging to the historical reversing tasks of semi-trailer vehicles, which refers to the proportion of instructions in the reversing tasks completed within the tolerance range.

[0072] It is the average speed of the semi-trailer's historical reversing tasks, which refers to the average speed at which the semi-trailer moved in the historical reversing tasks.

[0073] It is the average acceleration of the semi-trailer's historical reversing tasks, which refers to the average acceleration of the semi-trailer's movement in the historical reversing tasks.

[0074] It is a reference speed preset in the vehicle control database, representing a reference value for analyzing the average speed of historical reversing tasks of a semi-trailer vehicle.

[0075] It is a reference acceleration preset in the vehicle control database, representing a reference value for analyzing the average acceleration of the historical reversing tasks of the semi-trailer.

[0076] e is a natural constant, It is the weight factor corresponding to the flexible adjustment factor preset in the vehicle control database, which indicates the proportion of the flexible adjustment factor to the reversing operation stability index. When in use, the weight factor corresponding to the flexible adjustment factor can be directly obtained from the vehicle control database, and the corresponding relationship can be a preset mapping relationship. For example, the average steering ratio of the steering wheel, the tire wear and the total weight form a mapping set with the weight factor corresponding to the flexible adjustment factor preset in the vehicle control database. The real-time average steering ratio of the steering wheel, the tire wear and the total weight are input into the mapping set to obtain the weight factor corresponding to the flexible adjustment factor. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0077] It is the weight factor corresponding to the first reversing operation stability index preset in the automobile control database, indicating the proportion of the first reversing operation stability index to the reversing operation stability index. When in use, the weight factor corresponding to the first reversing operation stability index can be directly obtained from the automobile control database, and the corresponding relationship can be a preset mapping relationship. For example, the average operation execution time and the complete completion rate are combined with the weight factor corresponding to the first reversing operation stability index preset in the automobile control database to form a mapping set. The real-time average operation execution time and the complete completion rate are input into the mapping set to obtain the weight factor corresponding to the first reversing operation stability index. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0078] It is the weight factor corresponding to the second reversing operation stability index preset in the automobile control database, indicating the proportion of the second reversing operation stability index to the reversing operation stability index. When in use, the weight factor corresponding to the second reversing operation stability index can be directly obtained from the automobile control database, and the corresponding relationship can be a preset mapping relationship. For example, the average speed and the average acceleration form a mapping set with the weight factor corresponding to the second reversing operation stability index preset in the automobile control database, and the real-time average speed and the average acceleration are input into the mapping set to obtain the weight factor corresponding to the second reversing operation stability index. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0079] It is the influence factor corresponding to the unit value of the average operation execution time preset in the automobile control database, which represents the influence degree of the unit value of the average operation execution time on the first reversing operation stability index of the semi-trailer. When used, the influence factor corresponding to the unit value of the average operation execution time can be directly obtained from the automobile control database, and the corresponding relationship can be a preset mapping relationship. For example, the average operation execution time and the influence factor corresponding to the unit value of the average operation execution time preset in the automobile control database form a mapping set, and the real-time average operation execution time is input into the mapping set to obtain the influence factor corresponding to the unit value of the average operation execution time. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0080] It is the influence factor corresponding to the unit value of the complete completion rate preset in the automobile control database, which represents the influence degree of the unit value of the complete completion rate on the first reversing operation stability index of the semi-trailer. When used, the influence factor corresponding to the unit value of the complete completion rate can be directly obtained from the automobile control database, and the corresponding relationship can be a preset mapping relationship. For example, the complete completion rate and the influence factor corresponding to the unit value of the complete completion rate preset in the automobile control database form a mapping set, and the real-time complete completion rate is input into the mapping set to obtain the influence factor corresponding to the unit value of the complete completion rate. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0081] In the formula, is the reversing operation stability index of the semi-trailer. The longer the average execution time of the operation, the longer the time between the operator of the semi-trailer receiving the command and executing the command, indicating that the operator of the semi-trailer is slow to react or the command execution is incoherent, which increases the uncertainty in the reversing process, reduces the complete completion rate and stability of the command, and causes the stability of the reversing operation to decrease. At the same time, during the reversing process, stable speed control is very important. The average speed is close to the preset reference speed, and the average acceleration fluctuation is small, indicating that the speed control is stable, which helps to reduce the vehicle shaking and instability caused by speed changes, thereby reflecting the consistency and stability of the command completion from the side. On the contrary, the speed and acceleration deviate significantly from the reference value. It will increase the uncertainty in the reversing process and reduce the stability of the reversing process, thereby reducing the accuracy of command completion, and further have a greater negative impact on the reversing of the semi-trailer. In this embodiment, the reversing operation stability of the semi-trailer not only analyzes the parameters of the operator's historical operation process of the semi-trailer, but also combines the performance of the semi-trailer itself, that is, the flexible adjustment factor of the semi-trailer, and comprehensively evaluates the reversing operation stability of the semi-trailer from two dimensions: human factors (such as operation interval, full completion rate, etc.) and physical factors (such as flexible adjustment factor), avoiding the one-sided analysis that may be caused by a single perspective, so that more personalized operation guidance and optimization strategies can be formulated for different vehicles, thereby improving the adaptability and flexibility of reversing operations.

[0082] Specifically, the flexible adjustment factor of the semi-trailer is analyzed, and the specific analysis process is as follows:

[0083] The steering wheel rotation angle and each steering wheel rotation angle of the tractor belonging to the semi-trailer at each test rotation are extracted from the reversing preparation parameters of the semi-trailer, and the steering wheel rotation angles of each steering wheel are averaged to obtain the average steering wheel rotation angle of the tractor belonging to the semi-trailer at each test rotation. The steering wheel rotation angle of the tractor belonging to the semi-trailer at each test rotation is ratio-processed with the corresponding average steering wheel rotation angle to obtain the steering wheel steering ratio of the tractor belonging to the semi-trailer at each test rotation, and the average steering ratio of the tractor belonging to the semi-trailer is obtained by average processing; the steering wheel rotation angle and each steering wheel rotation angle of the tractor belonging to the semi-trailer at each test rotation, wherein the steering wheel rotation angle is obtained by measuring data of a photoelectric angle sensor, and the steering wheel rotation angles are measured by a laser measuring instrument.

[0084] The tread depth of each tire of the semi-trailer at each detection position point is extracted from the reversing preparation parameters of the semi-trailer, and the average tread depth of the tire of the semi-trailer is obtained by mean processing, and matched with the tire wear corresponding to each tread average depth interval stored in the vehicle control database, thereby obtaining the tire wear of the semi-trailer; the above-mentioned detection positions are selected by the vehicle maintenance manager according to the actual use of the tire during the maintenance process; the tread depth of each tire of the semi-trailer at each detection position point can be extracted from the data in the historical adjacent maintenance records of the semi-trailer; the specific matching process of the tire wear of the semi-trailer is: each tread average depth interval is matched with The tire wear degree corresponds one to one, and the rules are formulated by the automobile maintenance manager. The average tread depth of a semi-trailer tire is 2.5 mm, and the average tread depth range is [2.45 mm, 2.55 mm]. The tire wear degree corresponding to the average tread depth range [2.45 mm, 2.55 mm] is 1 degree, so the tire wear degree of the semi-trailer is 1 degree; the average tread depth of a semi-trailer tire is 2.0 mm, and the average tread depth range is [1.95 mm, 2.05 mm]. The tire wear degree corresponding to the average tread depth range [1.95 mm, 2.05 mm] is 6 degrees, so the tire wear degree of the semi-trailer is 6 degrees.

[0085] The total weight of the semi-trailer is extracted from the reversing preparation parameters of the semi-trailer, and the flexible adjustment factor of the semi-trailer is obtained by comprehensive analysis; the total weight of the semi-trailer is measured by weighing.

[0086] Furthermore, the analysis method of the flexible adjustment factor of the semi-trailer, in this embodiment, the flexible adjustment factor of the semi-trailer is obtained by comprehensive analysis of the average steering ratio of the steering wheel, tire wear and total weight of the tractor to which the semi-trailer belongs, and is used to evaluate the value of the flexible adjustment degree of the semi-trailer, as follows:

[0087] ;

[0088] It is the average steering ratio of the steering wheel of the tractor to which the semi-trailer belongs, which refers to the proportional relationship between the steering wheel rotation angle and the wheel steering angle.

[0089] The tire wear degree of a semi-trailer refers to the degree of wear of the tire due to friction and other factors during use.

[0090] The gross weight of a semi-trailer refers to the total mass of the vehicle itself and the cargo it carries.

[0091] It is the influence factor corresponding to the unit value of the average steering ratio of the steering wheel preset in the automobile control database, which represents the influence degree of the unit value of the average steering ratio of the steering wheel on the flexible adjustment factor of the semi-trailer. When used, the influence factor corresponding to the unit value of the average steering ratio of the steering wheel can be directly obtained from the automobile control database, and the corresponding relationship can be a preset mapping relationship. For example, the average steering wheel ratio and the influence factor corresponding to the unit value of the average steering ratio of the steering wheel preset in the automobile control database form a mapping set, and the real-time average steering wheel ratio is input into the mapping set to obtain the influence factor corresponding to the unit value of the average steering ratio of the steering wheel. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0092] It is the influence factor corresponding to the tire wear unit value preset in the vehicle control database, which represents the influence degree of the tire wear unit value on the flexible adjustment factor of the semi-trailer. When used, the influence factor corresponding to the tire wear unit value can be directly obtained from the vehicle control database, and the corresponding relationship can be a preset mapping relationship. For example, the tire wear and the influence factor corresponding to the tire wear unit value preset in the vehicle control database form a mapping set, and the real-time tire wear is input into the mapping set to obtain the influence factor corresponding to the tire wear unit value. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0093] It is the influence factor corresponding to the total weight unit value preset in the vehicle control database, which represents the influence degree of the total weight unit value on the flexible adjustment factor of the semi-trailer. When used, the influence factor corresponding to the total weight unit value can be directly obtained from the vehicle control database, and the corresponding relationship can be a preset mapping relationship. For example, the total weight and the influence factor corresponding to the total weight unit value preset in the vehicle control database form a mapping set, and the real-time total weight is input into the mapping set to obtain the influence factor corresponding to the total weight unit value. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0094] in, is the flexible adjustment factor of the semi-trailer. When the semi-trailer is loaded with goods, its overall weight increases significantly. This change directly leads to an increase in the load on the semi-trailer tires, which in turn accelerates the wear of the tires. In this situation, the steering system design of the semi-trailer, especially the selection of the steering ratio, becomes particularly critical. If the steering ratio is designed to be too small, that is, the steering wheel needs to be turned at a larger angle to achieve a smaller steering of the wheel, the semi-trailer will respond slowly during the reversing steering process, and its flexibility will be reduced, which will significantly reduce the controllability and safety of the semi-trailer's reversing adjustment. Therefore, the comprehensive analysis of the above parameters can comprehensively evaluate the ability and limit of the semi-trailer to make flexible adjustments during the reversing process.

[0095] In this example embodiment, the flexible adjustment factor of the semi-trailer and its corresponding parameter change table are shown in Table 1:

[0096] Table 1 Changes in the flexible adjustment factors and their corresponding parameters of semi-trailers

[0097] Average steering ratio of the steering wheel / degree / arc Tire wear degree Total weight / ton Flexible adjustment factor / percentage 17.5 3 25 141 15 4 30 138 12 5 35 134

[0098] In this example embodiment, the value of the influence factor corresponding to the unit value of the average steering wheel steering ratio is set to 0.34, the value of the influence factor corresponding to the unit value of the tire wear is set to 0.28, and the value of the influence factor corresponding to the unit value of the total weight is set to 0.30. It can be seen from Table 1 that with the decrease in the average steering wheel ratio (from 17.5 to 12), the increase in tire wear (from 3 to 5) and the increase in total weight (25 to 35), the flexible adjustment factor is gradually decreasing (from 141% to 134%).

[0099] The reversing instruction simulation module is used to fuse the actual position information of the semi-trailer collected by the laser radar and the various feature information of the target parking area to which the semi-trailer belongs, match the recommended reversing instruction set of the semi-trailer, and simulate the execution of the recommended reversing instruction set of the semi-trailer based on the reversing operation stability index of the semi-trailer to obtain the simulation process parameters of the recommended reversing instruction set of the semi-trailer.

[0100] The above-mentioned simulation executes the recommended reversing instruction set of the semi-trailer, specifically refers to inputting the total set of actual characteristics of the semi-trailer into the vehicle driving path simulation software (AutoTURN) through the vehicle driving path simulation software, constructing a simulated reversing scene of the semi-trailer through the scene construction function of the vehicle driving path simulation software, inputting the recommended reversing instruction set into the vehicle driving path simulation software as the input parameter of the simulation, and starting the simulation by setting the reversing operation stability index of the semi-trailer as an additional condition of the simulation, thereby obtaining the simulation process parameters of the recommended reversing instruction set of the semi-trailer.

[0101] In a specific embodiment, the present invention integrates the actual position information of the semi-trailer collected by the laser radar and the various feature information of the target parking area to which the semi-trailer belongs, and simulates the execution of the recommended reversing instruction set of the semi-trailer based on the reversing operation stability index of the semi-trailer, thereby optimizing the reversing path in advance and reducing the risks during the actual reversing operation.

[0102] Specifically, the actual position information of the semi-trailer collected by the laser radar and the characteristic information of the target parking area to which the semi-trailer belongs are fused in the following specific fusion process:

[0103] The laser radar is used to collect various feature information of the actual position information of the semi-trailer and marked as the feature set of the semi-trailer. At the same time, the laser radar is used to collect various feature information of the target parking area to which the semi-trailer belongs and marked as the feature set of the target parking area to which the semi-trailer belongs. The feature set of the semi-trailer and the feature set of the target parking area to which the semi-trailer belongs are comprehensively marked as the actual feature set, which is the fusion process of the actual position information of the semi-trailer. In an example embodiment, the various feature information of the actual position information of the semi-trailer includes: the coordinates of the center point of the vehicle (100.5 meters, 23.3 meters), the direction angle 30 degrees (indicating that the front of the semi-trailer direction and the north direction), body length 15 meters, body width 2.5 meters, contour point set (x1, y1), (x2, y2), ..., (xn, yn); the feature information of the target parking area to which the above semi-trailer belongs includes: the coordinates of the center point of the parking area (105 meters, 100 meters), the bounding box (100 meters, 20 meters, 110 meters, 30 meters), the length 10 meters, the width 10 meters, and the entry point (100 meters, 25 meters); the feature set of the semi-trailer and the feature set of the target parking area are combined to form an actual feature set, which contains all the key information required for automatic path planning, as shown below:

[0104] Actual feature set = {

[0105] "Semi-trailer":{

[0106] "Center point coordinates": (100.5m, 23.3m), "Direction angle": 30°,

[0107] "Length": 15m,

[0108] "Width": 2.5m, "Contour Point Set": [(x1, y1), (x2, y2), ..., (xn, yn)]

[0109] },

[0110] "Target parking area":{

[0111] "Center point coordinates": (105m, 100m),

[0112] "bounding box": (100m, 20m, 110m, 30m),

[0113] "Length": 10m,

[0114] "Width":10m,

[0115] "Entry Point": (100m, 25m),

[0116] }

[0117] }.

[0118] Specifically, the matching process of the recommended reversing instruction set for the semi-trailer is as follows:

[0119] Based on the fusion process of the actual position information of the semi-trailer, the actual feature set is compared and analyzed with the feature sets stored in the vehicle control database to obtain the feature set with the highest degree of comparison with the actual feature set. The recommended reversing instruction set corresponding to the feature set is the recommended reversing instruction set corresponding to the actual feature set, and is recorded as the recommended reversing instruction set for the semi-trailer; the above-mentioned comparison and analysis of the actual feature set with the feature sets stored in the vehicle control database is as follows: the recommended reversing instruction set corresponding to each feature set is formulated by the reversing simulation operator, and when the formulated number meets the requirements, the recommended reversing instruction set is obtained. When the expected number of reversing simulation operators is combined, the actual feature set can be compared and analyzed with the feature sets stored in the vehicle control database, the information in the feature set can be converted into a feature vector, and the similarity measurement method between vectors (such as cosine similarity) is used to calculate the similarity between the actual feature set and the feature sets stored in the vehicle control database, and the similarities are sorted in order from large to small, and the first-ranked similarity is extracted. The recommended reversing instruction set of the feature set stored in the vehicle control database corresponding to the similarity is the recommended reversing instruction set corresponding to the actual feature set.

[0120] The reversing simulation feedback module is used to determine the accuracy of the simulated reversing of the semi-trailer based on the simulation process parameters of the recommended reversing instruction set of the semi-trailer, thereby providing feedback and warning for the reversing of the semi-trailer.

[0121] It should be explained that the simulation process parameters of the recommended reversing instruction set for the above-mentioned semi-trailer include the parking area of ​​the semi-trailer at the end time of the simulation cycle and the articulation angle of the semi-trailer at each detection position point within the simulation cycle. In addition to being applicable to the above-mentioned parameters, this example can also be used for other parameters.

[0122] Specifically, the feedback warning for the reversing of the semi-trailer vehicle is performed in the following specific feedback process:

[0123] The simulated reversing accuracy of the semi-trailer is compared with the simulated reversing accuracy threshold. If the simulated reversing accuracy of the semi-trailer is less than the simulated reversing accuracy threshold, feedback warning is given to the reversing of the semi-trailer. The specific feedback warning process is as follows:

[0124] The simulated reversing accuracy threshold value is subjected to difference processing with the simulated reversing accuracy of the semi-trailer to obtain the simulated reversing accuracy difference value, and the simulated reversing accuracy difference value is matched with the optimized reversing instruction set corresponding to each simulated reversing accuracy difference value interval stored in the vehicle control database to obtain the optimized reversing instruction set of the semi-trailer, thereby providing feedback and early warning for the reversing of the semi-trailer through the optimized reversing instruction set; the above-mentioned simulated reversing accuracy threshold value represents the minimum value of the reasonable range of the simulated reversing accuracy of the semi-trailer, which is extracted from the vehicle control database; if the simulated reversing accuracy of the semi-trailer is less than the simulated reversing accuracy threshold value, it indicates that the recommended reversing instruction set of the semi-trailer fails to fully guide the actual reversing operation of the operator, and feedback and early warning for the reversing of the semi-trailer are required; if the simulated reversing accuracy of the semi-trailer is greater than or equal to If the simulated reversing accuracy threshold is exceeded, the recommended reversing instruction set is used to guide the operator to perform the reversing operation; the optimized reversing instruction sets corresponding to the above-mentioned simulated reversing accuracy difference intervals, wherein the corresponding rules and values ​​are formulated by the reversing simulation analyst, after matching the optimized reversing instruction set of the semi-trailer, the optimized reversing instruction set can be simulated according to the process of simulating the execution of the recommended reversing instruction set of the semi-trailer, and the simulated reversing accuracy of the semi-trailer in the process of simulating the optimized reversing instruction set is analyzed. If the simulated reversing accuracy at this time is less than the simulated reversing accuracy threshold, it indicates that it is difficult for the current operator to accurately reverse the semi-trailer into the target parking area, so the voice prompts the operator to change the target parking area. If the simulated reversing accuracy at this time is greater than or equal to the simulated reversing accuracy threshold, the optimized reversing instruction set is used to guide the operator to perform the reversing operation.

[0125] In an example embodiment, if the simulated reversing accuracy of a semi-trailer is determined to be greater than the simulated reversing accuracy threshold based on the simulation process parameters of the recommended reversing instruction set for the semi-trailer, the recommended reversing instruction set for the semi-trailer includes: pressing the reverse gear, slowly releasing the brake, lightly stepping on the accelerator, and maintaining the vehicle speed between 5.5 and 6 kilometers per hour. When the vehicle starts to move backward, immediately turn the steering wheel all the way to the right. When the vehicle body is about to reach the predetermined turning point, begin to gradually return the steering wheel to the center, first return half a circle, and continue to fine-tune the steering wheel angle according to the deviation between the actual driving trajectory of the vehicle and the predetermined path, with each adjustment not exceeding 1 / 4 circle. When the vehicle approaches a parking space or a target position, gradually reduce the accelerator, lightly step on the brake, and reduce the vehicle speed to the minimum. When the vehicle stops completely, immediately step on the brake and shift into neutral. If the simulated reversing accuracy of a semi-trailer is determined to be less than the simulated reversing accuracy threshold based on the simulation process parameters of the recommended reversing instruction set for the semi-trailer value, assuming that the accuracy difference of the simulated reversing at this time is 55%, the optimized reversing instruction set matched from the vehicle control database includes: press the reverse gear, slowly release the brake, lightly step on the accelerator, and maintain the vehicle speed between 3-4.5 kilometers per hour. When the vehicle starts to back up, immediately turn the steering wheel to the right twice (on the basis of straightening the steering wheel). When the vehicle body is about to reach the predetermined turning point, begin to gradually return the steering wheel to the center, first return half a circle, and continue to fine-tune the steering wheel angle according to the deviation between the actual driving trajectory of the vehicle and the predetermined path. Each adjustment should not exceed 1 / 2 circle. When the vehicle approaches the parking space or the target position, gradually reduce the accelerator, lightly step on the brake, and reduce the vehicle speed to the minimum. When the vehicle stops completely, immediately step on the brake and shift into neutral; recommended reversing instruction set and optimized reversing instruction set, through voice broadcast instructions and through the central control screen of the semi-trailer to visualize the actual reversing process and the reversing process simulated according to the instructions.

[0126] Specifically, the determination of the simulated reversing accuracy of the semi-trailer vehicle is carried out in the following process:

[0127] The target parking area of ​​the semi-trailer at the end time of the simulation cycle is extracted from the simulation process parameters of the recommended reversing instruction set of the semi-trailer, and the reference parking area of ​​the semi-trailer at the end time of the simulation cycle is obtained, and the target parking area of ​​the semi-trailer at the end time of the simulation cycle is overlapped and compared with the target parking area of ​​the semi-trailer at the end time of the simulation cycle, thereby analyzing and obtaining the offset area of ​​the target parking area of ​​the semi-trailer at the end time of the simulation cycle; the target parking area of ​​the semi-trailer at the end time of the simulation cycle is determined at the end time of the simulation cycle according to the simulated driving trajectory and the final position of the semi-trailer at the end of the simulation cycle, which is the actual parking area of ​​the simulated operation; the reference parking area of ​​the semi-trailer at the end time of the simulation cycle is the reference parking area preset in the recommended reversing instruction set of the semi-trailer; the offset area of ​​the target parking area is specifically analyzed as follows: the data of the target parking area and the reference parking area are transmitted to the vehicle path simulation software, and the overlap comparison function of the software is used to overlap and compare the target parking area and the reference parking area to obtain the overlap area of ​​the parking area, and the offset area of ​​the target parking area is obtained by subtracting the overlap area of ​​the parking area from the area of ​​the reference parking area.

[0128] The articulation angle of the semi-trailer at each detection position point in the simulation cycle is extracted from the simulation process parameters of the recommended reversing instruction set of the semi-trailer, and the difference processing is performed with the reference articulation angle at each detection position point to obtain the articulation offset angles of the semi-trailer in the simulation cycle, and the total articulation offset angle of the semi-trailer in the simulation cycle is accumulated; the above-mentioned detection position points refer to a number of position points randomly arranged on the driving trajectory of the semi-trailer during the simulated reversing, and the detection position points are arranged on the driving trajectory according to specific conditions (such as turning points) through the trajectory prediction algorithm; the articulation angles of the semi-trailer at each detection position point in the simulation cycle are determined according to the simulated driving trajectory and operating status of the semi-trailer. The articulation angle at each detection position point is determined as the actual articulation angle of the simulated operation. The reference articulation angle at each detection position point is the reference value of the articulation angle for the simulated operation preset in the recommended reversing instruction set of the semi-trailer. The total articulation offset angle of the semi-trailer during the simulation period refers to the difference processing of the articulation angle at each detection position point and the corresponding reference articulation angle, and then accumulating the absolute value of the difference processing to obtain the total articulation offset angle. For example, if the articulation angle at a certain detection position point is 37 degrees and the reference articulation angle at the detection position point is 40 degrees, the difference processing is performed to obtain -3 degrees, and the absolute value processing is performed to obtain 3 degrees, thereby incorporating 3 degrees into the total articulation offset angle.

[0129] The method for determining the accuracy of the simulated reversing of the semitrailer is finally obtained by comprehensively analyzing the reversing operation stability index of the semitrailer, the offset area of ​​the target parking area of ​​the semitrailer at the end time of the simulation cycle, and the total articulation offset angle of the semitrailer during the simulation cycle. The value used to determine the accuracy of the simulated reversing of the semitrailer is as follows:

[0130] ;

[0131] It is the reversing operation stability index of the semi-trailer, which is obtained by comprehensive analysis of the flexible adjustment factor of the semi-trailer, the first reversing operation stability index and the second reversing operation stability index. It is used to evaluate the stability of the operator's operation of the semi-trailer during the reversing process of the semi-trailer.

[0132] It is the offset area of ​​the target parking area of ​​the semi-trailer at the end time of the simulation cycle, which refers to the offset area between the target parking area and the reference parking area of ​​the semi-trailer at the end time of the simulation cycle.

[0133] It is the total articulation offset angle of the semi-trailer during the simulation cycle, which refers to the cumulative value of the articulation offset angles of the semi-trailer during the simulation cycle.

[0134] e is a natural constant, It is the weight factor corresponding to the reversing operation stability index preset in the automobile control database, which represents the proportion of the reversing operation stability index in the simulated reversing accuracy. When in use, the weight factor corresponding to the reversing operation stability index can be directly obtained from the automobile control database, and the corresponding relationship can be a preset mapping relationship. For example, the first reversing operation stability index and the second reversing operation stability index form a mapping set with the weight factor corresponding to the reversing operation stability index preset in the automobile control database. The real-time first reversing operation stability index and the second reversing operation stability index are input into the mapping set to obtain the weight factor corresponding to the reversing operation stability index. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0135] It is the influence factor corresponding to the unit value of the target parking area offset area preset in the vehicle control database, which represents the influence degree of the unit value of the target parking area offset area on the simulated reversing accuracy of the semi-trailer. When used, the influence factor corresponding to the unit value of the target parking area offset area can be directly obtained from the vehicle control database, and the corresponding relationship can be a preset mapping relationship. For example, the target parking area offset area and the influence factor corresponding to the unit value of the target parking area offset area preset in the vehicle control database form a mapping set, and the real-time target parking area offset area is input into the mapping set to obtain the influence factor corresponding to the unit value of the target parking area offset area. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0136] It is the influence factor corresponding to the unit value of the total articulated offset angle preset in the vehicle control database, which represents the influence degree of the unit value of the total articulated offset angle on the simulated reversing accuracy of the semi-trailer. When used, the influence factor corresponding to the unit value of the total articulated offset angle can be directly obtained from the vehicle control database, and the corresponding relationship can be a preset mapping relationship. For example, the total articulated offset angle and the influence factor corresponding to the unit value of the total articulated offset angle preset in the vehicle control database form a mapping set, and the real-time total articulated offset angle is input into the mapping set to obtain the influence factor corresponding to the unit value of the total articulated offset angle. The mapping relationship can be one-to-one or many-to-one. In this example, its value range is [0, 1].

[0137] in, is the simulated reversing accuracy of the semi-trailer. If the reversing operation stability index of the semi-trailer is small, it means that it is difficult for the semi-trailer to maintain the expected path and posture when executing the reversing command, which reduces the accuracy of the semi-trailer in the simulated reversing process, further leading to a large total articulation offset angle of the semi-trailer during the simulation cycle. The reversing deviation generated by it accumulates continuously, resulting in a large offset area of ​​the target parking area of ​​the semi-trailer at the end of the simulation cycle. Therefore, a comprehensive analysis of the three parameters can fully understand the simulated reversing accuracy of the semi-trailer, thereby reflecting the matching degree of the recommended reversing instruction set of the semi-trailer during the reversing operation, and thus further provide feedback on the recommended reversing instruction set of the semi-trailer.

[0138] In a specific embodiment, the present invention provides a semi-trailer reversing system and method based on laser radar information fusion, which collects the reversing preparation parameters of the semi-trailer, analyzes the flexible adjustment factor of the semi-trailer, collects the historical operation parameters of the semi-trailer, and evaluates the reversing operation stability index of the semi-trailer in combination with the flexible adjustment factor of the semi-trailer, taking into account the flexibility differences of different vehicles due to factors such as design and load, thereby improving the universality and accuracy of the reversing operation analysis, and at the same time integrating the high-precision actual position information of the semi-trailer collected by the laser radar and the various feature information of the target parking area to which the semi-trailer belongs, matching and simulating the execution of the recommended reversing instruction set of the semi-trailer, thereby determining the simulated reversing accuracy of the semi-trailer, and providing feedback and warning for the reversing of the semi-trailer, so that personalized reversing plans can be formulated for different operation processes of different operators, thereby improving the accuracy and efficiency of the reversing process.

[0139] Reference Figure 2 As shown, the second aspect of the present invention provides a method for a semi-trailer reversing system based on lidar information fusion, comprising: S1. collecting the reversing preparation parameters of the semi-trailer, and analyzing the flexible adjustment factor of the semi-trailer, while collecting the historical operation parameters of the semi-trailer, and combining the flexible adjustment factor of the semi-trailer to evaluate the reversing operation stability index of the semi-trailer.

[0140] S2. The actual position information of the semi-trailer collected by the laser radar and the characteristic information of the target parking area to which the semi-trailer belongs are integrated to match the recommended reversing instruction set of the semi-trailer, and based on the reversing operation stability index of the semi-trailer, simulate the execution of the recommended reversing instruction set of the semi-trailer to obtain the simulation process parameters of the recommended reversing instruction set of the semi-trailer.

[0141] S3. Based on the simulation process parameters of the recommended reversing instruction set of the semi-trailer, the simulation reversing accuracy of the semi-trailer is determined, thereby providing feedback warning for the reversing of the semi-trailer.

[0142] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A semi-trailer reversing system based on laser radar information fusion, characterized in that: include: The reversing stability evaluation module is used to collect the reversing preparation parameters of the semi-trailer and analyze the flexible adjustment factor of the semi-trailer. At the same time, it collects the historical operation parameters of the semi-trailer and evaluates the reversing operation stability index of the semi-trailer in combination with the flexible adjustment factor of the semi-trailer. A reversing instruction simulation module is used to fuse the actual position information of the semi-trailer collected by the laser radar and the various feature information of the target parking area to which the semi-trailer belongs, match the recommended reversing instruction set of the semi-trailer, and simulate the execution of the recommended reversing instruction set of the semi-trailer based on the reversing operation stability index of the semi-trailer to obtain the simulation process parameters of the recommended reversing instruction set of the semi-trailer; A reversing simulation feedback module is used to determine the accuracy of the simulated reversing of the semi-trailer based on the simulation process parameters of the recommended reversing instruction set of the semi-trailer, thereby providing feedback and early warning of the reversing of the semi-trailer; The flexible adjustment factor of the semi-trailer is analyzed, and the specific analysis process is as follows: Extracting the steering wheel rotation angle and each steering wheel rotation angle of the tractor to which the semitrailer belongs in each test rotation from the reversing preparation parameters of the semitrailer, averaging the steering wheel rotation angles to obtain the average steering wheel rotation angle of the tractor to which the semitrailer belongs in each test rotation, performing ratio processing on the steering wheel rotation angle of the tractor to which the semitrailer belongs in each test rotation and the corresponding average steering wheel rotation angle to obtain the steering wheel steering ratio of the tractor to which the semitrailer belongs in each test rotation, thereby obtaining the average steering ratio of the steering wheel of the tractor to which the semitrailer belongs by averaging; The tread depth of each tire of the semi-trailer at each detection position point is extracted from the reversing preparation parameters of the semi-trailer, and the average tread depth of the tire of the semi-trailer is obtained by mean processing, and the average tread depth of the tire of the semi-trailer is matched with the tire wear corresponding to each tread average depth interval stored in the vehicle control database, thereby obtaining the tire wear of the semi-trailer; An analysis method for extracting the total weight of a semi-trailer from its reversing preparation parameters, and obtaining a flexible adjustment factor of the semi-trailer through comprehensive analysis; The analysis method of the flexible adjustment factor of the semi-trailer is as follows: ； in, is the flexible adjustment factor of the semi-trailer, is the average steering ratio of the steering wheel of the tractor to which the semitrailer belongs, is the tire wear of the semi-trailer, is the total weight of the semitrailer, is the influence factor corresponding to the unit value of the average steering ratio of the steering wheel preset in the automobile control database, is the influencing factor corresponding to the tire wear unit value preset in the vehicle control database, It is the influence factor corresponding to the total weight unit value preset in the automobile control database.

2. A semi-trailer reversing system based on laser radar information fusion according to claim 1, characterized in that: The collecting of the historical operation parameters of the semi-trailer specifically involves searching the corresponding operator of the semi-trailer in the vehicle control database, and collecting the parameters of the operator of the semi-trailer during the historical reversing task operation, which are recorded as the historical operation parameters of the semi-trailer.

3. A semi-trailer reversing system based on laser radar information fusion according to claim 2, characterized in that: The specific evaluation process of evaluating the reversing operation stability index of the semi-trailer is as follows: Extract the issuing time points and corresponding execution end time points of each sample instruction belonging to the historical reversing task of the semi-trailer from the historical operation parameters of the semi-trailer, and perform difference processing to obtain the operation execution time of each sample instruction belonging to the historical reversing task of the semi-trailer, thereby performing mean processing to obtain the average operation execution time of the sample instructions belonging to the historical reversing task of the semi-trailer, and at the same time, count the total number of sample instructions that are completely completed and the total number of sample instructions, and perform ratio analysis to obtain the complete completion rate of the sample instructions belonging to the historical reversing task of the semi-trailer; Extract the speed change curve of the semi-trailer's historical reversing task from the semi-trailer's historical operating parameters, mark each speed detection point on the speed change curve, obtain the speed of each speed detection point, and perform mean processing to obtain the average speed of the semi-trailer's historical reversing task; The speed change curve of the semi-trailer's historical reversing task is processed to obtain the acceleration change curve of the semi-trailer's historical reversing task, the acceleration of each speed detection point is obtained, and the average acceleration of the semi-trailer's historical reversing task is obtained by mean processing; Therefore, combined with the comprehensive evaluation of the flexible adjustment factor of the semi-trailer, an evaluation method for the reversing operation stability index of the semi-trailer is obtained.

4. According to claim 1, a semi-trailer reversing system based on laser radar information fusion is characterized in that: The actual position information of the semi-trailer collected by the laser radar and the characteristic information of the target parking area to which the semi-trailer belongs are fused in the following specific fusion process: The various feature information of the actual position information of the semi-trailer is collected through the laser radar and marked as the feature set of the semi-trailer. At the same time, the various feature information of the target parking area to which the semi-trailer belongs is collected through the laser radar and marked as the feature set of the target parking area to which the semi-trailer belongs. The feature set of the semi-trailer and the feature set of the target parking area to which the semi-trailer belongs are comprehensively marked as the actual feature total set, which is the fusion process of the actual position information of the semi-trailer.

5. The semi-trailer reversing system based on laser radar information fusion according to claim 1, characterized in that: The matching process of the recommended reversing instruction set for the semi-trailer is as follows: Based on the fusion process of the actual position information of the semi-trailer, the actual feature set is compared and analyzed with the feature sets stored in the vehicle control database to obtain the feature set with the highest degree of comparison with the actual feature set. The recommended reversing instruction set corresponding to the feature set is the recommended reversing instruction set corresponding to the actual feature set, and is recorded as the recommended reversing instruction set for the semi-trailer.

6. The semi-trailer reversing system based on laser radar information fusion according to claim 1, characterized in that: The specific determination process of determining the accuracy of the simulated reversing of the semi-trailer is as follows: Extract the target parking area of ​​the semi-trailer at the end time of the simulation cycle from the simulation process parameters of the recommended reversing instruction set of the semi-trailer, obtain the reference parking area of ​​the semi-trailer at the end time of the simulation cycle, and compare it with the target parking area of ​​the semi-trailer at the end time of the simulation cycle, thereby analyzing and obtaining the offset area of ​​the target parking area of ​​the semi-trailer at the end time of the simulation cycle; Extracting the articulation angle of the semi-trailer at each detection position point in the simulation cycle from the simulation process parameters of the recommended reversing instruction set of the semi-trailer, performing difference processing with the reference articulation angle at each detection position point, obtaining each articulation offset angle of the semi-trailer in the simulation cycle, and accumulating to obtain the total articulation offset angle of the semi-trailer in the simulation cycle; By combining the reversing operation stability index of the semi-trailer, a method for determining the accuracy of the simulated reversing of the semi-trailer is finally obtained.

7. The semi-trailer reversing system based on laser radar information fusion according to claim 1, characterized in that: The feedback warning for the reversing of the semi-trailer vehicle is specifically performed as follows: The simulated reversing accuracy of the semi-trailer is compared with the simulated reversing accuracy threshold. If the simulated reversing accuracy of the semi-trailer is less than the simulated reversing accuracy threshold, feedback warning is given to the reversing of the semi-trailer. The specific feedback warning process is as follows: The simulated reversing accuracy threshold value and the simulated reversing accuracy of the semi-trailer are subjected to difference processing to obtain the simulated reversing accuracy difference, and the simulated reversing accuracy difference is matched with the optimized reversing instruction set corresponding to each simulated reversing accuracy difference interval stored in the vehicle control database to obtain the optimized reversing instruction set of the semi-trailer, thereby providing feedback warning for the reversing of the semi-trailer through the optimized reversing instruction set.

8. A method for a semi-trailer reversing system based on laser radar information fusion as claimed in any one of claims 1 to 7, characterized in that: include: S1. Collect the reversing preparation parameters of the semi-trailer, analyze the flexible adjustment factor of the semi-trailer, collect the historical operation parameters of the semi-trailer, and evaluate the reversing operation stability index of the semi-trailer in combination with the flexible adjustment factor of the semi-trailer; S2. Fusing the actual position information of the semi-trailer collected by the laser radar and the characteristic information of the target parking area to which the semi-trailer belongs, matching the recommended reversing instruction set of the semi-trailer, and simulating the execution of the recommended reversing instruction set of the semi-trailer based on the reversing operation stability index of the semi-trailer, and obtaining the simulation process parameters of the recommended reversing instruction set of the semi-trailer; S3. Based on the simulation process parameters of the recommended reversing instruction set of the semi-trailer, the simulation reversing accuracy of the semi-trailer is determined, thereby providing feedback warning for the reversing of the semi-trailer.

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